| Directory: | ./ |
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| File: | include/crocoddyl/multibody/residuals/centroidal-momentum.hpp |
| Date: | 2025-03-26 19:23:43 |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2021-2025, LAAS-CNRS, University of Edinburgh, | ||
| 5 | // Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | #ifndef CROCODDYL_MULTIBODY_RESIDUALS_MOMENTUM_HPP_ | ||
| 11 | #define CROCODDYL_MULTIBODY_RESIDUALS_MOMENTUM_HPP_ | ||
| 12 | |||
| 13 | #include "crocoddyl/core/residual-base.hpp" | ||
| 14 | #include "crocoddyl/multibody/data/multibody.hpp" | ||
| 15 | #include "crocoddyl/multibody/fwd.hpp" | ||
| 16 | #include "crocoddyl/multibody/states/multibody.hpp" | ||
| 17 | |||
| 18 | namespace crocoddyl { | ||
| 19 | |||
| 20 | /** | ||
| 21 | * @brief Centroidal momentum residual | ||
| 22 | * | ||
| 23 | * This residual function defines the centroidal momentum tracking as | ||
| 24 | * \f$\mathbf{r}=\mathbf{h}-\mathbf{h}^*\f$, where | ||
| 25 | * \f$\mathbf{h},\mathbf{h}^*\in~\mathcal{X}\f$ are the current and reference | ||
| 26 | * centroidal momenta, respectively. Note that the dimension of the residual | ||
| 27 | * vector is 6. Furthermore, the Jacobians of the residual function are computed | ||
| 28 | * analytically. | ||
| 29 | * | ||
| 30 | * As described in `ResidualModelAbstractTpl()`, the residual value and its | ||
| 31 | * Jacobians are calculated by `calc` and `calcDiff`, respectively. | ||
| 32 | * | ||
| 33 | * \sa `ResidualModelAbstractTpl`, `calc()`, `calcDiff()`, `createData()` | ||
| 34 | */ | ||
| 35 | template <typename _Scalar> | ||
| 36 | class ResidualModelCentroidalMomentumTpl | ||
| 37 | : public ResidualModelAbstractTpl<_Scalar> { | ||
| 38 | public: | ||
| 39 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 40 | ✗ | CROCODDYL_DERIVED_CAST(ResidualModelBase, ResidualModelCentroidalMomentumTpl) | |
| 41 | |||
| 42 | typedef _Scalar Scalar; | ||
| 43 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 44 | typedef ResidualModelAbstractTpl<Scalar> Base; | ||
| 45 | typedef ResidualDataCentroidalMomentumTpl<Scalar> Data; | ||
| 46 | typedef StateMultibodyTpl<Scalar> StateMultibody; | ||
| 47 | typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract; | ||
| 48 | typedef ActivationModelAbstractTpl<Scalar> ActivationModelAbstract; | ||
| 49 | typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; | ||
| 50 | typedef typename MathBase::Vector6s Vector6s; | ||
| 51 | typedef typename MathBase::VectorXs VectorXs; | ||
| 52 | typedef typename MathBase::Matrix6xs Matrix6xs; | ||
| 53 | |||
| 54 | /** | ||
| 55 | * @brief Initialize the centroidal momentum residual model | ||
| 56 | * | ||
| 57 | * @param[in] state State of the multibody system | ||
| 58 | * @param[in] href Reference centroidal momentum | ||
| 59 | * @param[in] nu Dimension of the control vector | ||
| 60 | */ | ||
| 61 | ResidualModelCentroidalMomentumTpl(std::shared_ptr<StateMultibody> state, | ||
| 62 | const Vector6s& href, | ||
| 63 | const std::size_t nu); | ||
| 64 | |||
| 65 | /** | ||
| 66 | * @brief Initialize the centroidal momentum residual model | ||
| 67 | * | ||
| 68 | * The default `nu` is obtained from `StateAbstractTpl::get_nv()`. | ||
| 69 | * | ||
| 70 | * @param[in] state State of the multibody system | ||
| 71 | * @param[in] href Reference centroidal momentum | ||
| 72 | */ | ||
| 73 | ResidualModelCentroidalMomentumTpl(std::shared_ptr<StateMultibody> state, | ||
| 74 | const Vector6s& href); | ||
| 75 | 116 | virtual ~ResidualModelCentroidalMomentumTpl() = default; | |
| 76 | |||
| 77 | /** | ||
| 78 | * @brief Compute the centroidal momentum residual | ||
| 79 | * | ||
| 80 | * @param[in] data Centroidal momentum residual data | ||
| 81 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 82 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 83 | */ | ||
| 84 | virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 85 | const Eigen::Ref<const VectorXs>& x, | ||
| 86 | const Eigen::Ref<const VectorXs>& u) override; | ||
| 87 | |||
| 88 | /** | ||
| 89 | * @brief Compute the derivatives of the centroidal momentum residual | ||
| 90 | * | ||
| 91 | * @param[in] data Centroidal momentum residual data | ||
| 92 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 93 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 94 | */ | ||
| 95 | virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 96 | const Eigen::Ref<const VectorXs>& x, | ||
| 97 | const Eigen::Ref<const VectorXs>& u) override; | ||
| 98 | |||
| 99 | /** | ||
| 100 | * @brief Create the centroidal momentum residual data | ||
| 101 | */ | ||
| 102 | virtual std::shared_ptr<ResidualDataAbstract> createData( | ||
| 103 | DataCollectorAbstract* const data) override; | ||
| 104 | |||
| 105 | /** | ||
| 106 | * @brief Cast the centroidal-momentum residual model to a different scalar | ||
| 107 | * type. | ||
| 108 | * | ||
| 109 | * It is useful for operations requiring different precision or scalar types. | ||
| 110 | * | ||
| 111 | * @tparam NewScalar The new scalar type to cast to. | ||
| 112 | * @return ResidualModelCentroidalMomentumTpl<NewScalar> A residual model with | ||
| 113 | * the new scalar type. | ||
| 114 | */ | ||
| 115 | template <typename NewScalar> | ||
| 116 | ResidualModelCentroidalMomentumTpl<NewScalar> cast() const; | ||
| 117 | |||
| 118 | /** | ||
| 119 | * @brief Return the reference centroidal momentum | ||
| 120 | */ | ||
| 121 | const Vector6s& get_reference() const; | ||
| 122 | |||
| 123 | /** | ||
| 124 | * @brief Modify the reference centroidal momentum | ||
| 125 | */ | ||
| 126 | void set_reference(const Vector6s& href); | ||
| 127 | |||
| 128 | /** | ||
| 129 | * @brief Print relevant information of the centroidal-momentum residual | ||
| 130 | * | ||
| 131 | * @param[out] os Output stream object | ||
| 132 | */ | ||
| 133 | virtual void print(std::ostream& os) const override; | ||
| 134 | |||
| 135 | protected: | ||
| 136 | using Base::nu_; | ||
| 137 | using Base::state_; | ||
| 138 | using Base::u_dependent_; | ||
| 139 | |||
| 140 | private: | ||
| 141 | Vector6s href_; //!< Reference centroidal momentum | ||
| 142 | std::shared_ptr<typename StateMultibody::PinocchioModel> | ||
| 143 | pin_model_; //!< Pinocchio model | ||
| 144 | }; | ||
| 145 | |||
| 146 | template <typename _Scalar> | ||
| 147 | struct ResidualDataCentroidalMomentumTpl | ||
| 148 | : public ResidualDataAbstractTpl<_Scalar> { | ||
| 149 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 150 | |||
| 151 | typedef _Scalar Scalar; | ||
| 152 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 153 | typedef ResidualDataAbstractTpl<Scalar> Base; | ||
| 154 | typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; | ||
| 155 | typedef typename MathBase::Matrix6xs Matrix6xs; | ||
| 156 | |||
| 157 | template <template <typename Scalar> class Model> | ||
| 158 | 2406 | ResidualDataCentroidalMomentumTpl(Model<Scalar>* const model, | |
| 159 | DataCollectorAbstract* const data) | ||
| 160 | : Base(model, data), | ||
| 161 |
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2406 | dhd_dq(6, model->get_state()->get_nv()), |
| 162 |
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4812 | dhd_dv(6, model->get_state()->get_nv()) { |
| 163 |
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2406 | dhd_dq.setZero(); |
| 164 |
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2406 | dhd_dv.setZero(); |
| 165 | |||
| 166 | // Check that proper shared data has been passed | ||
| 167 | 2406 | DataCollectorMultibodyTpl<Scalar>* d = | |
| 168 |
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2406 | dynamic_cast<DataCollectorMultibodyTpl<Scalar>*>(shared); |
| 169 |
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2406 | if (d == NULL) { |
| 170 | ✗ | throw_pretty( | |
| 171 | "Invalid argument: the shared data should be derived from " | ||
| 172 | "DataCollectorMultibody"); | ||
| 173 | } | ||
| 174 | |||
| 175 | // Avoids data casting at runtime | ||
| 176 | 2406 | pinocchio = d->pinocchio; | |
| 177 | 2406 | } | |
| 178 | 4808 | virtual ~ResidualDataCentroidalMomentumTpl() = default; | |
| 179 | |||
| 180 | pinocchio::DataTpl<Scalar>* pinocchio; //!< Pinocchio data | ||
| 181 | Matrix6xs dhd_dq; //!< Jacobian of the centroidal momentum | ||
| 182 | Matrix6xs dhd_dv; //!< Jacobian of the centroidal momentum | ||
| 183 | using Base::r; | ||
| 184 | using Base::Ru; | ||
| 185 | using Base::Rx; | ||
| 186 | using Base::shared; | ||
| 187 | }; | ||
| 188 | |||
| 189 | } // namespace crocoddyl | ||
| 190 | |||
| 191 | /* --- Details -------------------------------------------------------------- */ | ||
| 192 | /* --- Details -------------------------------------------------------------- */ | ||
| 193 | /* --- Details -------------------------------------------------------------- */ | ||
| 194 | #include "crocoddyl/multibody/residuals/centroidal-momentum.hxx" | ||
| 195 | |||
| 196 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS( | ||
| 197 | crocoddyl::ResidualModelCentroidalMomentumTpl) | ||
| 198 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT( | ||
| 199 | crocoddyl::ResidualDataCentroidalMomentumTpl) | ||
| 200 | |||
| 201 | #endif // CROCODDYL_MULTIBODY_RESIDUALS_MOMENTUM_HPP_ | ||
| 202 |